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303 Commits

Author SHA1 Message Date
Jacob Walser a430f5a7ae Sub: Remove land/landed code 2017-02-21 11:26:14 +11:00
Jacob Walser b6d76912cf Sub: Remove takeoff code 2017-02-21 11:26:14 +11:00
Jacob Walser 41d892666b Sub: Remove Drift mode 2017-02-21 11:26:14 +11:00
Jacob Walser bc4084931f Sub: Remove Brake mode 2017-02-21 11:26:14 +11:00
Jacob Walser 2959ecc70f Sub: Remove Flip mode 2017-02-21 11:26:14 +11:00
Jacob Walser e2f75d2451 Sub: Remove old RC-style arm and disarm checks 2017-02-21 11:26:14 +11:00
Jacob Walser dd2d0711c0 Sub: Remove baro ground effect compensation 2017-02-21 11:26:14 +11:00
Jacob Walser 26fd201672 Sub: Let AC_PosControl handle z axis limiting at surface 2017-02-21 11:26:14 +11:00
Jacob Walser 6682e93bf3 Sub: Refactor delay() 
We don't need a dedicated file only to define a delay function.
This will also provide a preventitive measure for people trying to use
delay() without an understanding of the implications
 2017-02-21 11:26:14 +11:00
Jacob Walser cbddc7d814 Sub: Remove control_switch_state struct and reset_control_switch() 2017-02-21 11:26:14 +11:00
Jacob Walser 8367bb4626 Sub: Ditch control mode RC switch logic 
Call set_mode() directly from joystick button handler
 2017-02-21 11:26:14 +11:00
Jacob Walser eb9aa93486 Sub: Remove dead poshold function declarations 2017-02-21 11:26:14 +11:00
Jacob Walser b4250bac6f Sub: Fix parameter metadata 2017-02-21 11:26:14 +11:00
Jacob Walser e1065ff5d4 Sub: Change default arming check parameter to ARMING_CHECK_NONE 2017-02-21 11:26:14 +11:00
Jacob Walser 9ef9afd26d Sub: Constrain camera tilt goal to servo output limits 2017-02-21 11:26:14 +11:00
Jacob Walser 0faf2a1f8e Sub: Add cam tilt and lights step size parameters 2017-02-21 11:26:14 +11:00
Jacob Walser 5cc1d3293d Sub: Add gain parameters 2017-02-21 11:26:14 +11:00
Jacob Walser 5eb50d5d21 Sub: Log leak failsafe events, and send statustext even when disarmed 2017-02-21 11:26:14 +11:00
Jacob Walser cd6ce2b208 Sub: elevate leak statustext message to MAV_SEVERITY_CRITICAL 2017-02-21 11:26:14 +11:00
Jacob Walser f9622f7205 Sub: Remove statustext messages for surface and bottom events 2017-02-21 11:26:14 +11:00
Jacob Walser 93022a8a5e Sub: Update to match recent upstream changes 2017-02-21 11:26:14 +11:00
Jacob Walser 974af85f42 Sub: Check if depth sensor is present for sensor reporting 2017-02-21 11:26:14 +11:00
Jacob Walser 456f5e2e93 Sub: Update Sub to match relevant Copter and Library developments 2017-02-21 11:26:14 +11:00
Jacob Walser 4704faf60d Sub: Revert to 29f8ce95, prior to deadzone PR 2017-02-21 11:26:14 +11:00
Jacob Walser e49f6fb8a6 Sub: initialize scale factor for dead zones correctly 2017-02-21 11:26:14 +11:00
Jacob Walser 330d31189e Sub: use get_throttle_control_dz in place of throttle->get_control_in 
This handles special treatment of throttle rc_channel with type_range in
sub
 2017-02-21 11:26:14 +11:00
Jacob Walser 5ea7d3443d Sub: force min/max/trim on inputs 1~7 2017-02-21 11:26:14 +11:00
Jacob Walser 0b0cda02cc Sub: add method to get throttle channel control_in, while applying 
deadzone to center like angle type channels
 2017-02-21 11:26:14 +11:00
Jacob Walser 7e7e53f517 Sub: Add method to uniformly scale the dead zones on all channels 2017-02-21 11:26:14 +11:00
Jacob Walser a3565c90b5 Sub: Apply deadzone by using norm_input_dz instead of norm_input 2017-02-21 11:26:14 +11:00
Rustom Jehangir 4cad8af600 Sub: Reenable rally to avoid errors. 2017-02-21 11:26:14 +11:00
Jacob Walser e8f9b044ef Sub: disable transect mode, and hide associated params 2017-02-21 11:26:14 +11:00
Jacob Walser 2cb2633764 Sub: initialize pwm input on control channels to 1500 instead of 0 2017-02-21 11:26:14 +11:00
Jacob Walser dcc96a5705 Sub: First attempts at AUTO mode 2017-02-21 11:26:14 +11:00
Jacob Walser 3da4dc7089 Sub: home altitude is always 0, referenced from water's surface 2017-02-21 11:26:14 +11:00
Jacob Walser ad60e8476f Sub: add method to translate wpnav roll/pitch output to forward/lateral 2017-02-21 11:26:14 +11:00
Jacob Walser 2c62158e20 Sub: turn counter improvements 2017-02-21 11:26:14 +11:00
Jacob Walser 0699acfcf0 Sub: Change LeakDetector parameter group name 2017-02-21 11:26:14 +11:00
Rustom Jehangir ffa491b805 Sub: Add placeholders for new button functions. 2017-02-21 11:26:14 +11:00
Jacob Walser 56207ac284 Sub: AP_WaterDetector -> AP_LeakDetector 2017-02-21 11:26:14 +11:00
Jacob Walser 88e234272f Sub: add params for internal pressure/temperature failsafe actions 2017-02-21 11:26:14 +11:00
Jacob Walser 70d58cd0bc Sub: only update surface/bottom status when armed. 
This will prevent unexpected messages during bench testing and
accelerometer calibration.
 2017-02-21 11:26:14 +11:00
Jacob Walser 579f58e9f2 Sub: hold absolute heading in depth hold and poshold 2017-02-21 11:26:14 +11:00
Jacob Walser 9426849b8d Sub: Change default ATC_ACCEL_Y_MAX to 110k cd/ss 2017-02-21 11:26:14 +11:00
Jacob Walser 1143f98fad Sub: Add GCS warnings for high internal pressure/temperature 2017-02-21 11:26:14 +11:00
Jacob Walser 8f6b3900a3 Sub: stop pwm output before reboot 2017-02-21 11:26:14 +11:00
Jacob Walser c62e882886 Sub: update control mode descriptions 2017-02-21 11:26:14 +11:00
Jacob Walser 0085cc8a27 Sub: rename modes loiter->velhold, sport->transect 2017-02-21 11:26:14 +11:00
Jacob Walser e844e28a77 Sub: Replace sport mode with transect mode 2017-02-21 11:26:14 +11:00
Jacob Walser 3997bbcd8c Sub: new poshold mode implementation 2017-02-21 11:26:14 +11:00
Jacob Walser 5911785455 Sub: Add leak and gcs failsafe actions 2017-02-21 11:26:14 +11:00
Jacob Walser e2a7ba5b0c Sub: replace land with surface mode 2017-02-21 11:26:14 +11:00
Jacob Walser e1bf217422 Sub: remove heading hold debug message from stabilize 2017-02-21 11:26:14 +11:00
Jacob Walser daccdec13c Sub: Hold absolute heading in stabilize mode 2017-02-21 11:26:14 +11:00
Jacob Walser f4ad42c276 Sub: Update Notify with leak status 2017-02-21 11:26:14 +11:00
Jacob Walser a217b4c684 Sub: lock out depth hold mode if no external sensor is present 2017-02-21 11:26:14 +11:00
Rustom Jehangir 4a1c6fc46c Sub: Fix waf build for water detector. 2017-02-21 11:26:14 +11:00
Jacob Walser b364d94c43 Sub: Warn for leak detection 2017-02-21 11:26:14 +11:00
Jacob Walser a811cfe7fb Sub: Add WaterDetector object and parameters 2017-02-21 11:26:14 +11:00
Jacob Walser bd2e37ae3f Sub: add WaterDetector to build 2017-02-21 11:26:14 +11:00
Rustom Jehangir 5a99da106a Sub: Force ch 3 trim to 1100 to match hardcoded radio settings 2017-02-21 11:26:14 +11:00
Rustom Jehangir 967ead31db Sub: Hardcoded scalars for manual mode to match stabilize mode 2017-02-21 11:26:14 +11:00
Rustom Jehangir e1882d9596 Sub: Fix camera low pass filter and allow button holding. 2017-02-21 11:26:14 +11:00
Rustom Jehangir f6b0d47e8e Sub: Change info print for gain changes. 2017-02-21 11:26:14 +11:00
Rustom Jehangir f19442389e Sub: Add identify to speak gain and input hold messages. 2017-02-21 11:26:14 +11:00
Rustom Jehangir a6a1004ff9 Sub: Remove unnecessary failsafe from motor test. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 69cd30fd8e Sub: Revert "Sub: Remove gain control from joystick file." 
This reverts commit 93cc3abab2.
 2017-02-21 11:26:14 +11:00
Rustom Jehangir e9c2ad9192 Sub: Changes to match upstream Copter changes. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 1633ffb4e4 Sub: Reduce flight mode parameter options. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 9534f41a53 Sub: Fix control_manual compile warnings. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 2b822d0c55 Sub: Change altHold to depthHold for parameter values 2017-02-21 11:26:14 +11:00
Rustom Jehangir 4a25ed2d95 Sub: Change available flight modes in parameter values. 2017-02-21 11:26:14 +11:00
jaxxzer 90580621de Sub: disable rate controller in manual mode 2017-02-21 11:26:14 +11:00
jaxxzer 6696119ec7 Sub: allow arming from manual mode 2017-02-21 11:26:14 +11:00
jaxxzer 38be177e47 Sub: Add manual mode functions 2017-02-21 11:26:14 +11:00
jaxxzer e016e906f5 Sub: Create new Vectored 90DEG (6DOF) class 2017-02-21 11:26:14 +11:00
Rustom Jehangir 0a6fc0cc43 Sub: Remove gain control from joystick file. 2017-02-21 11:26:14 +11:00
Rustom Jehangir f19c20b29e Sub: Add low pass filter to camera tilt input 2017-02-21 11:26:14 +11:00
Rustom Jehangir 5adcb2cbef Sub: Changes based on diff with Copter. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 814605c461 Sub: Make changes to match Copter changes 2017-02-21 11:26:14 +11:00
Rustom Jehangir accbbce304 Sub: Turn counter (#23) 
* Sub: Add turn counter to avoid tether tangling.

* Sub: Add turn counter.

* Sub: Bug fix in turn counter.
 2017-02-21 11:26:14 +11:00
jaxxzer d3f5f59b8c Sub: fix surface bottom detection 
output_min() to make sure throttle limits are false when disarmed
 2017-02-21 11:26:14 +11:00
jaxxzer fa5af82d4c Sub: Update default params 2017-02-21 11:26:14 +11:00
Rustom Jehangir 2ca103bbda Sub: Set crash detection to off by default 2017-02-21 11:26:14 +11:00
Rustom Jehangir 7265351a0d Sub: Fix joystick scaling to 1100-1900 range 2017-02-21 11:26:14 +11:00
Rustom Jehangir 9198b8cb29 Sub: Changes to match recent Copter updates. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 7e33957af2 Sub: Fix typo in defines.h 2017-02-21 11:26:14 +11:00
Rustom Jehangir 26d0a922c1 Sub: Changes to match recent Copter updates. 2017-02-21 11:26:14 +11:00
Rustom Jehangir e857f20784 Sub: Changes to match Copter 2017-02-21 11:26:14 +11:00
Rustom Jehangir cf8e5f1337 Sub: Improve joystick button debounce 2017-02-21 11:26:14 +11:00
Rustom Jehangir b97b6b8f8a Sub: Improve joystick button debounce and input hold 2017-02-21 11:26:14 +11:00
Rustom Jehangir 203b7fbaba Sub: Implement joystick button arm toggling 2017-02-21 11:26:14 +11:00
Rustom Jehangir ae0e5dcb4b Sub: Implement video switch feature on joystick button 2017-02-21 11:26:14 +11:00
Rustom Jehangir 1447ba4c20 Sub: Implement input hold joystick button function 2017-02-21 11:26:14 +11:00
Rustom Jehangir d628b0d022 Sub: Add 'SimpleROV' frame configuration for 3/4-dof ROVs 2017-02-21 11:26:14 +11:00
Jacob Walser c711fedc4c Sub: Add camera source toggle and input hold button options 2017-02-21 11:26:14 +11:00
Rustom Jehangir f26602ab6d Sub: Update param descriptions for better processing to QGC 2017-02-21 11:26:14 +11:00
Rustom Jehangir 80cb18335f Sub: Update default configuration options 2017-02-21 11:26:14 +11:00
Rustom Jehangir 4eb78aefdc Sub: Add missing terrain.cpp file 2017-02-21 11:26:14 +11:00
Rustom Jehangir 7ad2496f7b Sub: Update SURFACE_DEPTH param description 2017-02-21 11:26:14 +11:00
Rustom Jehangir 617b439d0e Sub: Match Copter changes 2017-02-21 11:26:14 +11:00
Rustom Jehangir 37118920ed Sub: Add upstream Copter changes. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 95a9108a72 Sub: Clean parameter meta data for QGC 2017-02-21 11:26:14 +11:00
Rustom Jehangir ca1ac03ecf Sub: Change to MAV_TYPE_SUBMARINE for GCS plugin 2017-02-21 11:26:14 +11:00
Rustom Jehangir c082bd3c33 Sub: Set mode to stabilize be default 2017-02-21 11:26:14 +11:00
Rustom Jehangir bf00aacc42 Sub: Add default deadband for lateral/forward 2017-02-21 11:26:14 +11:00
Rustom Jehangir 3b679808f3 Sub: Match Copter changes. 2017-02-21 11:26:14 +11:00
Rustom Jehangir d0130136f0 Sub: Add pitch trim to joystick.cpp 2017-02-21 11:26:14 +11:00
Rustom Jehangir 3670fc3547 Sub: Change default pilot gain to 50% and add 25% option. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 3c6b6ba8e9 Sub: Fix handling of SET_HOME_POSITION 2017-02-21 11:26:14 +11:00
Rustom Jehangir c1f05b9e25 Sub: Match copter mode change stuff 2017-02-21 11:26:14 +11:00
Rustom Jehangir 99ad33411b Sub: Add pilot gain control 2017-02-21 11:26:14 +11:00
Rustom Jehangir cc00feac29 Sub: Repair motor outputs for ROVs for +/-1.0 range 2017-02-21 11:26:14 +11:00
Rustom Jehangir 837f429bf0 Sub: Refactor 'strafe' to 'lateral' 2017-02-21 11:26:14 +11:00
Rustom Jehangir 3a942434e7 Sub: Change to cmath header. 2017-02-21 11:26:14 +11:00
Rustom Jehangir eb6734083d Sub: Remove readme.txt file. 2017-02-21 11:26:14 +11:00
Rustom Jehangir 1252f6c03e Sub: Repair build 2017-02-21 11:26:14 +11:00
Rustom Jehangir 7e7b7c9afb Sub: Add low pass filter (from Copter) 2017-02-21 11:26:14 +11:00
Rustom Jehangir 46a9cea0be Sub: Update to match upstream, part 2 2017-02-21 11:26:14 +11:00
Rustom Jehangir 684bc249b6 Sub: Update to match upstream, part 1 2017-02-21 11:26:14 +11:00
Rustom Jehangir e0d3eba5a4 Sub: Match Copter changes 2017-02-21 11:26:14 +11:00
Rustom Jehangir 802f4f617f Sub: Clean joystick code with helpers 2017-02-21 11:26:14 +11:00
Rustom Jehangir ef53455e2d Sub: Implement joystick button actions 2017-02-21 11:26:14 +11:00
Rustom Jehangir 44904760cc Sub: Add JSButton parameters to necessary places 2017-02-21 11:26:14 +11:00
Rustom Jehangir 9d3bf13cff Sub: Add JSButton library to makefile for Sub 2017-02-21 11:26:14 +11:00
Rustom Jehangir 1a28ba3762 Sub: Add AP_JButtonMapper to wscript 2017-02-21 11:26:14 +11:00
Rustom Jehangir af3807bc57 Sub: Move joystick interpretation to joystick.cpp 2017-02-21 11:26:14 +11:00
Rustom Jehangir 5ee68aee42 Sub: Fix compile error in control_althold 2017-02-21 11:26:14 +11:00
Rustom Jehangir 85f972ec65 Sub: Update to match Copter changes. 2017-02-21 11:26:14 +11:00
jaxxzer bd596c8ead Sub: Increase depth update rate from 10Hz to 25Hz 2017-02-21 11:26:14 +11:00
jaxxzer cd31451eb5 Sub: Refactor userhooks 2017-02-21 11:26:14 +11:00
jaxxzer 39fd3054c9 Sub: Make ap.land_complete always false 
This flag should eventually be removed completely from the code.
 2017-02-21 11:26:14 +11:00
jaxxzer 577240b8d4 Sub: Fix units for surface_depth parameter (cm) 2017-02-21 11:26:14 +11:00
jaxxzer 0c73ad5f4b Sub: Fix units for surface depth 2017-02-21 11:26:14 +11:00
Rustom Jehangir 9fabd7ced7 Sub: Changes to match Copter 2017-02-21 11:26:14 +11:00
jaxxzer ceab2ae759 Sub: land mode will surface the craft 2017-02-21 11:26:14 +11:00
jaxxzer fa4adee7a0 Sub: fix surface units for alt_hold 2017-02-21 11:26:14 +11:00
Rustom Jehangir d159320ac0 Sub: Add throw mode to match Copter. 
This is probably never going to be used for Sub unless there is some crazy situation I can't think of. However, we are continuing to maintain Copter changes for now to minimize divergence of the code and make maintenance easy.
 2017-02-21 11:26:14 +11:00
jaxxzer bde64bc919 Sub: top and bottom detection working well 
althold makes good use of the information and will refuse to attempt to
fly out of the water or dig underground
 2017-02-21 11:26:14 +11:00
jaxxzer b36300135a Sub: Add surface and bottom detection capabilities 2017-02-21 11:26:14 +11:00
jaxxzer 66ff7844c2 Sub: change surface/bottom message severity to INFO 2017-02-21 11:26:14 +11:00
jaxxzer 8cd41d305d Sub: Make surface_depth a parameter 2017-02-21 11:26:14 +11:00
Rustom Jehangir 19bac9a265 Sub: Config change to match Copter 2017-02-21 11:26:14 +11:00
jaxxzer 58d1e18614 Sub: update the surface/bottom detector 2017-02-21 11:26:14 +11:00
jaxxzer 8ff479ca1e Sub: Enable altitude fences for sub 2017-02-21 11:26:14 +11:00
jaxxzer 00e1c847a6 Sub: top and bottom detection working well 
althold makes good use of the information and will refuse to attempt to
fly out of the water or dig underground
 2017-02-21 11:26:14 +11:00
Rustom Jehangir de669c1d41 Sub: Change M_PI to match Copter. 2017-02-21 11:26:14 +11:00
Jacob Walser 584171cf3c Sub: Change gamepad controls for light brightness 2017-02-21 11:26:14 +11:00
jaxxzer 48983c38f8 Sub: Top and bottom detection working for alt hold 2017-02-21 11:26:14 +11:00
jaxxzer 8b337a9c7e Sub: Do nothing for update_throttle_thr_mix 2017-02-21 11:26:14 +11:00